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annotate trajectorymanagement/src/ManhattanMetric.h @ 1270:20a5e1292321
added smoothing functions and velocity generation to dltrack
author | Nicolas Saunier <nicolas.saunier@polymtl.ca> |
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date | Mon, 10 Jun 2024 16:44:19 -0400 |
parents | e1e7acef8eab |
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rev | line source |
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1 #ifndef MANHATTANMETRIC_H_ |
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2 #define MANHATTANMETRIC_H_ |
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3 |
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4 #include "Metric.h" |
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5 |
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6 #include "TrajectoryExceptions.h" |
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7 |
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8 /** |
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9 * ManhattanMetric class. |
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10 * |
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11 * The Manhattan metric measures the similarity between two trajectories. |
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12 */ |
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13 template<typename Tr, typename To> |
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14 class ManhattanMetric: public Metric<Tr, To> |
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15 { |
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16 public: |
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17 /** |
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18 * Compute similarity between two trajectories. |
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19 * |
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20 * @param[in] a input trajectory |
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21 * @param[in] b input trajectory |
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22 * @param[out] result distance between two trajectories |
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23 */ |
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24 void distance(const Trajectory<Tr> *a, const Trajectory<Tr> *b, To &result, unsigned int nbOfPoints = std::numeric_limits<unsigned int>::max()) |
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25 { |
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26 result = To(0); |
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27 |
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28 if (nbOfPoints == std::numeric_limits<unsigned int>::max()) |
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29 checkTrajectoryLength(a->size(), b->size()); |
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30 |
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31 To diff = To(0); |
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32 for (unsigned int i = 0; i < a->size() and i < nbOfPoints; ++i) |
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33 { |
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34 cv::Point3_<typeof(static_cast<Tr>(a->getPoint(i)).x)> p(a->getPoint(i) - b->getPoint(i)); |
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35 diff += abs(p.x) + abs(p.y) + abs(p.z); |
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36 } |
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37 |
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38 result = diff; |
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39 } |
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40 |
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41 private: |
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42 /** |
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43 * Check the length of the trajectories. |
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44 * |
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45 * @param[in] a the size of the trajectory |
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46 * @param[in] b the size of the trajectory |
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47 */ |
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48 void checkTrajectoryLength(size_t a, size_t b) const |
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49 { |
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50 if (a != b || a == 0) |
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51 { |
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52 throw TrajectoryLengthErrorException(); |
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53 } |
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54 } |
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55 }; |
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56 |
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57 #endif /* MANHATTANMETRIC_H_ */ |